One should be aware of one's "limbic brain"—without indulging it promiscuously. (An arbitrary attachment is more crippling than occasional solitude; it changes who one is. Because arbitrary attachments mutilate, individual freedom of movement is critical for private and social prosperity.)
Since brain plasticity declines with age, there is no second chance to become what one would like to become. The knowledge of what one would like to become is acquired by inferring one's desires and limitations from one's past choices, and deriving the implications of alternative courses of action (including altering malleable preferences).
Plato's ideals are approximations that emerge in the brain, often unconsciously. Hence, there is no paradox in the existence of a simple concept and the absence of its counterpart in practice.
The book is at its strongest when it reports empirical research.